From 8efe4bfc2ed7086e9fdf4812297e6525f955f6ac Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Mon, 29 Jul 2013 23:18:29 +0100 Subject: Make "abnormal thread terminations" into "ClientLogoutsDueToNoReceives" and add this to the StatsManager This reflects the actual use of this stat - it hasn't recorded general exceptions for some time. Make the sim extra stats collector draw the data from the stats manager rather than maintaing this data itself. --- .../Region/ClientStack/Linden/UDP/LLUDPServer.cs | 26 +++++++++++++++++----- 1 file changed, 21 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs index 25e10be..9e6a401 100644 --- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs +++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs @@ -69,9 +69,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP StatsManager.RegisterStat( new Stat( + "ClientLogoutsDueToNoReceives", + "Number of times a client has been logged out because no packets were received before the timeout.", + "", + "", + "clientstack", + scene.Name, + StatType.Pull, + MeasuresOfInterest.None, + stat => stat.Value = m_udpServer.ClientLogoutsDueToNoReceives, + StatVerbosity.Debug)); + + StatsManager.RegisterStat( + new Stat( "IncomingUDPReceivesCount", "Number of UDP receives performed", - "Number of UDP receives performed", + "", "", "clientstack", scene.Name, @@ -84,7 +97,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP new Stat( "IncomingPacketsProcessedCount", "Number of inbound LL protocol packets processed", - "Number of inbound LL protocol packets processed", + "", "", "clientstack", scene.Name, @@ -97,7 +110,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP new Stat( "OutgoingUDPSendsCount", "Number of UDP sends performed", - "Number of UDP sends performed", + "", "", "clientstack", scene.Name, @@ -149,6 +162,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP /// Maximum transmission unit, or UDP packet size, for the LLUDP protocol public const int MTU = 1400; + /// Number of forced client logouts due to no receipt of packets before timeout. + public int ClientLogoutsDueToNoReceives { get; private set; } + /// /// Default packet debug level given to new clients /// @@ -1037,7 +1053,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP timeoutTicks = m_pausedAckTimeout; if (client.IsActive && - (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > timeoutTicks) + (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > -1) { // We must set IsActive synchronously so that we can stop the packet loop reinvoking this method, even // though it's set later on by LLClientView.Close() @@ -1778,7 +1794,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP "[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}", client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName); - StatsManager.SimExtraStats.AddAbnormalClientThreadTermination(); + ClientLogoutsDueToNoReceives++; if (!client.SceneAgent.IsChildAgent) client.Kick("Simulator logged you out due to connection timeout"); -- cgit v1.1 From 8004e6f31cb03abc9b6170622099879ccaf5570b Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Mon, 29 Jul 2013 23:38:54 +0100 Subject: Fix issue just introduced in 8efe4bfc2ed7086e9fdf4812297e6525f955f6ac where I accidentally left in a test line to force very quick client unack --- OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs index 9e6a401..bf50868 100644 --- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs +++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs @@ -1053,7 +1053,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP timeoutTicks = m_pausedAckTimeout; if (client.IsActive && - (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > -1) + (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > timeoutTicks) { // We must set IsActive synchronously so that we can stop the packet loop reinvoking this method, even // though it's set later on by LLClientView.Close() -- cgit v1.1 From 1416c909326d89566cbe785b6dacac228e31a5a0 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Mon, 29 Jul 2013 23:53:59 +0100 Subject: minor: Add timeout secs to connection timeout message. Change message to reflect it is a timeout due to no data received rather than an ack issue. --- OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs index bf50868..85fe1a4 100644 --- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs +++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs @@ -1062,7 +1062,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP // Fire this out on a different thread so that we don't hold up outgoing packet processing for // everybody else if this is being called due to an ack timeout. // This is the same as processing as the async process of a logout request. - Util.FireAndForget(o => DeactivateClientDueToTimeout(client)); + Util.FireAndForget(o => DeactivateClientDueToTimeout(client, timeoutTicks)); return; } @@ -1786,18 +1786,19 @@ namespace OpenSim.Region.ClientStack.LindenUDP /// regular client pings. /// /// - private void DeactivateClientDueToTimeout(LLClientView client) + /// + private void DeactivateClientDueToTimeout(LLClientView client, int timeoutTicks) { lock (client.CloseSyncLock) - { - m_log.WarnFormat( - "[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}", - client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName); - + { ClientLogoutsDueToNoReceives++; + + m_log.WarnFormat( + "[LLUDPSERVER]: No packets received from {0} agent of {1} for {2}ms in {3}. Disconnecting.", + client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, timeoutTicks, m_scene.Name); if (!client.SceneAgent.IsChildAgent) - client.Kick("Simulator logged you out due to connection timeout"); + client.Kick("Simulator logged you out due to connection timeout."); client.CloseWithoutChecks(); } -- cgit v1.1 From 5a7784a0e6c3f549d0e7b59380ad05729cb93a4f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 24 Jul 2013 10:52:54 -0700 Subject: BulletSim: make density display and return value consistant with how the simulator expects it (scaled to 100kg/m^3). --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 13 +++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 15 ++++++++++++++- 3 files changed, 22 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 59e7f5f..58a417e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; - Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; + Density = BSParam.AvatarDensity; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 0bdb5f1..4520171 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -463,7 +463,7 @@ public static class BSParam // Density is passed around as 100kg/m3. This scales that to 1kg/m3. // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", - 0.0001f ), + 0.01f ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f ), @@ -474,8 +474,9 @@ public static class BSParam 0.2f, (s) => { return DefaultFriction; }, (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), + // For historical reasons, the viewer and simulator multiply the density by 100 new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 + 1000.0006836f, // Aluminum g/cm3 * 100 (s) => { return DefaultDensity; }, (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , @@ -555,8 +556,9 @@ public static class BSParam 0.95f ), new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", 1.3f ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 3.5f) , + // For historical reasons, density is reported * 100 + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.", + 3500f) , // 3.5 * 100 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f ), new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", @@ -608,9 +610,8 @@ public static class BSParam 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 0.0f ), - // Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f; new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", - 1.0f ), + 0.2f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", 60.0f ), new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d34b797..0704591 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; - Density = matAttrib.density / BSParam.DensityScaleFactor; + Density = matAttrib.density; // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); } + public override float Density + { + get + { + return base.Density; + } + set + { + DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value); + base.Density = value; + } + } + // Stop all physical motion. public abstract void ZeroMotion(bool inTaintTime); public abstract void ZeroAngularMotion(bool inTaintTime); -- cgit v1.1 From 6ad577d32bcb7520a33e4c0c7510d81a7cad674c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Jul 2013 15:22:32 -0700 Subject: BulletSim: test method for debugging of extended physics script operations. --- .../Scripting/ExtendedPhysics/ExtendedPhysics.cs | 54 ++++++++++++++++++---- 1 file changed, 46 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index 6009dc5..0cbc5f9 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs @@ -31,10 +31,10 @@ using System.Reflection; using System.Text; using OpenSim.Framework; +using OpenSim.Region.CoreModules; using OpenSim.Region.Framework; using OpenSim.Region.Framework.Interfaces; using OpenSim.Region.Framework.Scenes; -using OpenSim.Region.CoreModules; using Mono.Addins; using Nini.Config; @@ -49,6 +49,10 @@ public class ExtendedPhysics : INonSharedRegionModule private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static string LogHeader = "[EXTENDED PHYSICS]"; + // Since BulletSim is a plugin, this these values aren't defined easily in one place. + // This table must coorespond to an identical table in BSScene. + public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + private IConfig Configuration { get; set; } private bool Enabled { get; set; } private Scene BaseScene { get; set; } @@ -143,13 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule [ScriptConstant] public static int PHYS_CENTER_OF_MASS = 1 << 0; - [ScriptConstant] - public static int PHYS_LINKSET_TYPE_CONSTRAINT = 1; - [ScriptConstant] - public static int PHYS_LINKSET_TYPE_COMPOUND = 2; - [ScriptConstant] - public static int PHYS_LINKSET_TYPE_MANUAL = 3; - [ScriptInvocation] public string physGetEngineType(UUID hostID, UUID scriptID) { @@ -163,9 +160,50 @@ public class ExtendedPhysics : INonSharedRegionModule return ret; } + [ScriptConstant] + public static int PHYS_LINKSET_TYPE_CONSTRAINT = 0; + [ScriptConstant] + public static int PHYS_LINKSET_TYPE_COMPOUND = 1; + [ScriptConstant] + public static int PHYS_LINKSET_TYPE_MANUAL = 2; + [ScriptInvocation] public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType) { + if (!Enabled) return; + + // The part that is requesting the change. + SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID); + + if (requestingPart != null) + { + // The change is always made to the root of a linkset. + SceneObjectGroup containingGroup = requestingPart.ParentGroup; + SceneObjectPart rootPart = containingGroup.RootPart; + + if (rootPart != null) + { + Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor; + if (rootPhysActor != null) + { + rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType); + } + else + { + m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}", + LogHeader, rootPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}", + LogHeader, requestingPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID); + } } } } -- cgit v1.1 From 0d189165a83bb97f243a1f29cfa6896936ca6db0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Jul 2013 15:23:33 -0700 Subject: BulletSim: distribute vehicle physical settings to all members of a linkset. Enables constraint based linksets. Rename some internal variables to clarify whether values world or vehicle relative. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 75 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 18 +++++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 11 +++- 3 files changed, 61 insertions(+), 43 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 82d7c44..f0d17d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code - m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); - m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); - // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); - // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); + // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); + // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); + ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); + ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground - m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); + // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); - Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); - ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; - m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); - m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); - // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor); + // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); + // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; + // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); + // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); + ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. - m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); - // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); + // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); + ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_VhoverTargetHeight = m_VhoverHeight; } - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is already heigher, use its height as target height @@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, verticalError, verticalCorrection); } - } } @@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ComputeAngularTurning(float pTimestep) { // The user wants this many radians per second angular change? + Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); @@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - // { + // { // angularMotorContributionV.X = 0f; // angularMotorContributionV.Y = 0f; - // } + // } // Reduce any velocity by friction. Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); angularMotorContributionV -= (currentAngularV * frictionFactorW); - VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; - - + Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation; + VehicleRotationalVelocity += angularMotorContributionW; - VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV); + VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}", + ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: @@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 // since only computing half the distance between the angles. - float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; + float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; // Make a prediction of where the up axis will be when this is applied rather then where it is now as // this makes for a smoother adjustment and less fighting between the various forces. @@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared - Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; + Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed; VehicleRotationalVelocity += vertContributionV; - VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}", ControllingPrim.LocalID, + verticalAttractionSpeed, vehicleUpAxis, predictedUp, torqueVector, @@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no // Create a rotation that is only the vehicle's rotation around Z - Vector3 currentEuler = Vector3.Zero; - VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); - Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); + Vector3 currentEulerW = Vector3.Zero; + VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z); + Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z); // Create the axis that is perpendicular to the up vector and the rotated up vector. - Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); + Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); // Compute the angle between those to vectors. double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. // TODO: add 'efficiency'. - differenceAngle /= m_verticalAttractionTimescale; + // differenceAngle /= m_verticalAttractionTimescale; // Create the quaterian representing the correction angle - Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); + Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle); // Turn that quaternion into Euler values to make it into velocities to apply. - Vector3 vertContributionV = Vector3.Zero; - correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); - vertContributionV *= -1f; + Vector3 vertContributionW = Vector3.Zero; + correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z); + vertContributionW *= -1f; + vertContributionW /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContributionV; + VehicleRotationalVelocity += vertContributionW; VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}", ControllingPrim.LocalID, vehicleUpAxis, - differenceAxis, + differenceAxisW, differenceAngle, - correctionRotation, - vertContributionV); + correctionRotationW, + vertContributionW); break; } case 2: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 960c0b4..7f94666 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -309,16 +309,18 @@ public abstract class BSLinkset } ); } - public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) { ForEachMember((member) => { if (member.PhysBody.HasPhysicalBody) { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass); member.Inertia = inertia * inertiaFactor; - m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); + m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia); m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); + DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia); + } return false; // 'false' says to continue looping } @@ -334,6 +336,16 @@ public abstract class BSLinkset } ); } + public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) { ForEachMember((member) => diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 33ae5a5..6359046 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset if (LinksetRoot.PhysBody.HasPhysicalBody) m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); } - public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass); LinksetRoot.Inertia = inertia * inertiaFactor; - m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); + m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia); m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); } public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) @@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset if (LinksetRoot.PhysBody.HasPhysicalBody) m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); } + public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags); + } public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) { if (LinksetRoot.PhysBody.HasPhysicalBody) -- cgit v1.1